Design and control of the 3 degrees of freedom actuator by controlling the electromagnetic force

Chang Yang, Yoon Su Baek

Research output: Contribution to journalArticlepeer-review

19 Citations (Scopus)

Abstract

The novel spherical actuator with 3 D.O.F. and Its control method are proposed. The proposed 3 D.O.F. spherical actuator is composed of the rotor and the stator which have the multi-poles made with the permanent magnets and the electromagnets, respectively. The rotor can make an arbitrary orientation and a spin by Interactions among multi-poles of the rotor and the stator. Also the governing equation for torque generation is derived to control the suggested model. This model Is controlled with the suggested governing equation and PD control law. The various experimental results are presented to show the validity of the proposed spherical actuator.

Original languageEnglish
Pages (from-to)3607-3609
Number of pages3
JournalIEEE Transactions on Magnetics
Volume35
Issue number5 PART 2
DOIs
Publication statusPublished - 1999

All Science Journal Classification (ASJC) codes

  • Electronic, Optical and Magnetic Materials
  • Electrical and Electronic Engineering

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